Method and apparatus for donning bobbins

ABSTRACT

Automatic donning apparatus in a textile processing machine having a plurality of spindles for receiving bobbins, the apparatus comprising a plurality of bobbin graspers movable to a donning position axially aligned with the spindles and spaced above the spindles by a distance greater than the length of the bobbins to be donned, first control means for moving the graspers to their donning position, second control means for sequentially actuating the graspers to grasp the bobbins and deactuating the graspers to release the bobbins, and means correlating the first and second control means to deactuate the graspers while they are in their donning position, whereby the bobbins are donned on the spindles in self-aligning free fall.

United States Patent [1 1- Anderson et al.

[ METHOD AND APPARATUS FOR DONNING BOBBINS [75] Inventors: Gordon C. Anderson; William H.

Assignee: Maremont Corporation, Chicago, Ill.

Filed: Jan. 12, 1972 Appl. No.: 217,316

[30] Foreign Application Priority Data Nov. 18, 1971 Great Britain 53,700/71 U.S. Cl. 57/52, 57/156 Int. Cl. D01h 9/00, DOlh 9/04 Field of Search 57/52, 34 R, 54,

[5 6] References Cited UNITED STATES PATENTS 6/1931 Buddecke 57/52 12/1960 Ingham 57/52 10/1962 lngham ..57/52 A lin [451 Aug. 14,1973

3,123,967 3/1964 lngham ..57/52 3,686,847 8/1972 Vignon ..57/52 Primary Examiner-Donald E. Watkins Attorney-Martin Kirkpatrick [57] ABSTRACT Automatic donning apparatus in a textile processing machine having a plurality of spindles for receiving bobbins, the apparatus comprising a plurality of bobbin graspers movable to a donning position axially aligned with the spindles and spaced above the spindles by a distance greater than the length of the bobbins to be donned, first control means for moving the graspers to their donning position, second control means for sequentially actuating the graspers to grasp the bobbins and deactuating the graspers to release the bobbins, and means correlating the first and second control means to deactuate the graspers while they are in their donning position, whereby the bobbins are donned on the spindles in self-aligning free fall.

7 Claims, 11 Drawing Figures Patented Aug. 14, 1973 5 Sheets-Sheet Patented Aug. 14,1973

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METHOD AND APPARATUS FOR DONNING BOBBINS BACKGROUND OF THE INVENTION l. Field of the Invention This invention relates to donning textile bobbins on vertical elements, e.g., spindles or conveyor pegs, in spinning machines.

2. Brief Description of the Prior Art Previously, donning has been effected by forcing bobbins downwardly over the spindles and conveyor pegs while the bobbins are positively held by inflatable or equivalent grasping elements, e.g., as shown in U. S. Pat. No. 3,370,41 1. If the bobbins are not aligned accurately with the spindles and pegs, damage can result both to the vertical elements and the donning mechanism.

SUMMARY OF THE INVENTION The present invention eliminates the risk of damage,

from bobbin misalignment during donning, and simplifies control of the donning cycle.

In general the invention features automaticdonning apparatus in a textile processing machine having a plurality of spindles and conveyor pegs for receiving bobbins, the apparatus comprising a plurality'of bobbin graspers movable to donning positions axially aligned with said vertical elements and spaced thereabove by a distance greater than the length of the bobbins to be donned, first control means for moving the graspers to their donning position, second control means for sequentially actuating the' graspers to grasp the bobbins and deactuating the graspers to release the bobbins, and means correlating the first and second control means to deactutate the graspers while they are in their donning position, whereby the bobbins are donned onto the vertical elements in self-aligning free fall. In preferred embodiments magnetic seaters are provided on the spindles to seat the bobbins aftertheir free fall, the graspers are inflatable and the first control means include a doffing control for lowering the graspers to a doffmg position intermediate the donning and storage positions, and the means correlating the control means includes means' for effectively disabling the doffing control to permit the self-aligning free fall.

Other advantages andfeatures of the invention will be apparent from the description and drawings herein of a preferred embodiment thereof.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. I is a partially schematic front elevation of a textile spinning frame equipped with automatic doffmg apparatus embodying the invention, with various components broken away to indicate indeterminate length or to better reveal details of construction;

FIG. 2 is an enlargedfragmentary front elevation of one of the lifter mechanisms and immediately adjacent components of the doffing apparatus, some of the components being broken away or shown in section;

FIG. 3 is an enlarged fragmentary vertical section taken approximately along line 3-3 through the bobbin conveyor track and the cylindrical housing at the bottom of the apparatus of FIG. 1, showing one of the interconnecting brackets mounting the housing for piv otal movement; I v

FIG. 4 is a similar enlargedfragmentary vertical section taken approximately alongline 4-4 of FIG. 2,

showing one of the assemblies and brackets for imparting pivotal movement to the cylindrical housing;

FIG. 5 is a similar enlarged fragmentary vertical section taken approximately along line 5-5 of FIG. 1, showing the means for detecting the pivotal positions of the cylindrical housing;

FIG. 5A is an enlarged fragmentary perspective view of one of the slotted portions of the cylindrical housing, showing the slot sealing means and also the bumper bar extending along the housing;

FIG. 6 is an enlarged fragmentary perspective view taken approximately along line 6-6 of FIG. 1, showing in full lines the bobbin grasper bar in its inoperative position, and indicating by arrows and by phantom lines the path of movement thereof;

FIG. 7 is a schematic representation of part of the hydraulic circuit of the apparatus, also schematically showing by broken lines a related part of the apparatus electrical circuitry;

FIG. 8 is a detailed schematic diagram of the control circuitry of the apparatus;

FIG. 9 is a chart related to FIG. 8 showing the sequence of operations; and 7 FIG. 10 is a schematic diagram of the air pressure supply to the inflatable bobbin graspers, with associated controls.

DESCRIPTION OF THE PREFERRED EMBODIMENT Referring more particularly to the drawings, the spinning frame or like machine 10 schematically and fragmentarily shown in FIG. l is of a conventional construction including opposite head and foot ends l2, 14 between which there extend, on each side of the machinev and intermediate its height, a stationary spindle rail 16 mounting a row of upright bobbin-receiving spindles 18 which during operation of the machine 10 are rotated about their axes and traversed by a vertically movable ring rail 20 as .yam is directed thereto from the machine's drafting elements and creel (not shown) disposed thereabove. Each spindle includes a magnetic bobbin seating attachment 19 of the sort described in detail in U. S. Pat. No. 3,5 10,079 (the disclosure of whichis hereby incorporated by reference). Machine 10 is permanently equipped with automatic bobbin-doffing apparatus generally of the type disclosed in U. S. Pat. No. 3,370,411 (but incorporating the improvements of the present invention) and including, on each side of the machine, a bobbin grasper bar 22 and an endless bobbin conveyor 24 extending horizontally beneath the full length of the row of spindles l8. Spaced along the length of conveyor 24 are a plurality of bobbin-supporting pegs 26, on alternate ones of which empty bobbins B are mounted in upright fashion by a loading mechanism (not shown) at foot end 14 of machine 10 as the upper flight ofconveyor 24 is moved, during each loading operation, toward-head end 12. Upon completion of each bobbin-loading oper' ation, which may transpire at any convenient time between doffs of machine 10, conveyor 24 is halted with the alternate empty pegs 26 thereon positioned beneath and in precise vertical alignment with corresponding ones of the spindles l8 and also corresponding ones of a plurality of bobbin grasper elements 28 spaced longitudinally of the depending downwardly from the grasper bar 22 then disposed in its inoperative position beneath the lower ends of spindles l8 and above the upper ends of the empty bobbins B upon conveyor 24. While grasper elements 28 may be of other constructions, they preferably are of the inflatable type adapted to be inserted into the open upper ends of bobbins and then expanded, as by pressurized air directed to their interiors from a suitable source (not shown) communicating with the hollow interior of bar 22, into firm grasping engagement with the bobbins interior surfaces.

When machine has completed a spinning cycle, a doffing operation is commenced either manually or automatically by appropriate signals from master control 90 (FIG. 7) of the doffing apparatus. Upon completion of certain preliminary steps in the doffing operation, grasper bar 22 is moved from its inoperative storage position (see FIG. 6, wherein double-headed arrows indicate the paths of grasper bar movement) in a forward or outward direction a distance sufficient to clear the overlying spindle rail 16, then upwardly to an elevation above the full bobbins B upon spindles 18, then inwardly a distance sufficient to again bring its depending grasper elements 28 into precise vertical alignment with spindles l8 and the full bobbins B mounted thereon, and finally downwardly a distance sufficient to insert grasper elements 28 within the open upper ends of bobbins B. Bobbins B are then grasped by inflation of elements 28, doffed from spindles 18 by elevation of bar 22 until the bottoms of bobbins B clear the tops of spindles 18; bar 22 is then moved outwardly to clear spindle rail 16 and moved downwardly for the donning of bobbins B onto pegs 26. In this, bar 22 upon reaching an elevation of its inoperative storage position, is moved inwardly a distance sufficient to bring its grasper elements 28 into precise vertical alignment with empty conveyor pegs 26, said elevation being of distance sufficient that the bottoms of bobbins B clear the tops of pegs 26; thereupon, elements 28 are deflated whereupon bobbins B are released thence to self-align axially with pegs 26 and by free-fall to seat themselves thereon. Bar 22 remains at this position for an interval while conveyor 24 moves longitudinally the slight distance necessary to vertically align the empty bobbins B thereon with the grasper elements 28. Bobbins B are then grasped and transported upwardly and inwardly to alignment above spindles 18 by bar 22. With the empty bobbins still spaced above the spindles upon which they are to be donned, elements 28 are deflated, allowing the bobbins to drop in self-aligning free fall onto the spindles, where they are seated by magnetic seaters 19. During the deflation of graspers 28, any axial misalignment of the bobbins with spindles 18 is corrected by gravitational forces acting on the bobbins which will plumb just prior to full release by graspers 28 or at the time of such release thence to free fall. As described in said US. Pat. No. 3,510,079, the seated bobbins have a non-friction fitting association with the spindles and seaters, for ease in dofflng. The non-friction fit also facilitates the free fall donning of the present invention.

After donning, bar 22 returns to its original inoperative position beneath spindles 18. At any convenient time during normal spinning operations of machine 10, which are then resumed, the upper flight of conveyor 24 with vertically upright pegs 26 is moved back toward foot end 14 of machine 10 as the full bobbins B are removed therefrom by an unloading mechanism (not shown) there located.

Referring now primarily to FIGS. 2-6, conveyor 24 is supported by a track 30 having a hollow and generally rectangular cross-sectional shape, and preferably formed from a suitable metal such as aluminum in a single unitary length by extrusion techniques. When so formed, problems of joint alignment and sealing are avoided, and the track 30 is of sufficiently rigid construction and accurate dimensions as to permit other components, hereinafter described, to be readily supported therefrom. The recessed outer surface of the upper wall of track 30 seats and guides the upper flight of conveyor 24, while the lower conveyor flight is supported within track 30, where it is shielded from lint and the like, by inwardly projecting flanges 30 there provided. Track 30 extends substantially the full length of machine 10 parallel to and directly beneath spindle rail 16, and is rigidly secured to the machine's frame at longitudinally spaced intervals by another bracket (not shown).

The forward or outer vertical face of track 30 provides an accurate mounting surface for a plurality of bearing blocks 36 bolted or otherwise rigidly secured to it at longitudinally spaced intervals. A cylindrical housing 38 extends horizontally substantially the full length of the row of spindles 18 through the aligned bores of bearing blocks 36 and is supported thereby for controlled pivotal movement about its central axis. Studs 40 connected to blocks 36 mount a bumper bar 42 in spaced parallel relationship to housing 38, on that outer side thereof adjacent the servicing aisle customarily provided next to machine 10, which bumper 42 extends the full length of housing 38 and shields the same from being accidentally engaged by carts and the like traffic customarily moving along such an aisle.

Pivotal movement is imparted to housing 38 by a plurality of hydraulic piston and cylinder assemblies 46 connected to the conveyor track 30 by brackets 33 and bolts 32, and also to housing 38 at spaced intervals along its length by means of suitable brackets 44 rigidly secured thereto. As is best shown in FIG. 4, each bracket 44 includes a bell-crank arm 44' extending downwardly and inwardly from housing 38 to a pivotal connection with the piston rod component of the associated assembly 46. All of the assemblies 46 are connected for simultaneous operation in parallel branches of a hydraulic circuit (see FIG. 7) including fluid supply and return lines 80, 82, solenoid-actuated servovalve 84, check valves 86, 86 and adjustable throttle valves 88, 88 As is schematically indicated by broken lines in FIG. 7, servovalve 84 is operatively connected to the master electrical control 90 of the doffing apparatus and, upon receiving an appropriate electrical signal therefrom to actuate solenoid OUT, directs fluid from line through check valve 86 to the lower ends of each assembly 46, causing simultaneous retraction of their pistons and rods and thus causing brackets 44 to pivot housing 38 in a clockwise direction as viewed in FIGS. 4 and 6, through an arc of approximately twelve degrees. Valve-88 so throttles the exhaust flow of hydraulic fluid passed from the upper ends of assemblies 46, through valve 84 and to return line 82, as to insure smoothness and uniformity of the aforesaid movement. Upon receipt of another appropriate signal from master control 90, to actuate solenoid IN, valve 84 directs fluid from line 80 through check valve 86 to the upper ends of assemblies 46, similarly causing return pivotal movement of housing 38 in a counterclockwise direction to its original position, the exhaust fluid passing at this time from the lower ends of assemblies 46 being throttled by valve 88. Secured to conveyor track 30 by brackets 34 (see FIG. 5), are a pair of vertically spaced microswitches LS6, LS5 connected to master control 90 and disposed in the path of movement of an inwardly extending arm 68 secured to and pivotally movable with housing 38. When housing 38 reaches the end of its outward pivotal movement, tripping of switch LS6 by arm 68 notifies master control 90 of such occurrence. A signal is similarly directed to master control 90 upon return pivotal movement of housing 38 to its inward position, by arm 68 then engaging and actuating switch LS5.

While for purposes of illustration only four assemblies 46 are shown in FIG. 7, more of the assemblies and of the associated brackets 44 would be provided, if required, by the length of machine and housing 38, to prevent objectional torsional deflection of housing 38 during its aforesaid pivotal movement.

A larger hydraulic piston and cylinder assembly 50 mounted concentrically and rigidly within housing 38 (see FIG. 2) has its piston component connected to a rod 52 which extends from both ends thereof axially of housing 38 through longitudinally spaced supporting bearings 53 and spool-like guide brackets 54 respectively secured to housing 38 and threaded portions of rod 52, and also through coil springs 55 disposed for reasons subsequently discussed between each bracket 54. At head end 12 of machine 10, rod 52 terminates inwardly of the closed end of housing 38, but at the opposite end of the housing projects through a suitable seal (not shown) and along foot end 14 of machine 10 in adjacent relationship to a plurality of frame-mounted microswitches LSl-4. Switches LS1-4 are engaged and tripped upon, reciprocation of rod 52 by an actuating element 72 secured to the projecting rod portion. As is shown in FIG. 7, switches LSl-4 are electrically connected to master control90, as is the solenoid-operated servovalve 92 with associated solenoids UP and DOWN producing reciprocatory movement of rod 52 by selectively directing hydraulic fluid to and from opposite ends of assembly 50 via hydraulic pressure and return lines 80, 82 and adjustable throttle valve 94.

Each bracket 54 includes an outer portion having an upstanding fin 54 projecting therefrom, and an inner portion 54" which is concentric to and adjacent an interiorally threaded sleeve 51 to facilitate precise initial positional adjustment of the bracket longitudinally of the threaded portion of rod 52 encircled thereby. Each fin 54 projects upwardly from housing 38 through one of a plurality of elongate guide slots 56 provided through it. Slots 56 are. provided with resilient seal means which prevent the passage of lint and other foreign matter into housing 38, yet do not impede guided movement of fins 54', during axial reciprocation of rod 52, by and longitudinally of the slots. Each such seal comprises two strips of rubber or similar resilient material 58, 58 (see FIGS. 4 and 5A)'extending the full length and secured in, any suitable manner upon opposite sides of the slot 56 sealed thereby, the strips being of such a width that their adjacent longitudinal edges overlap intermediate the width of the slot. The resiliency of strips 58, 58 is such that immediately adjacent bracket fin 54' they deflect upward to permit its passage, but elsewhere along the slots length retain their overlapped and shielding positions.

A plurality of identical lifter mechanisms 59, two of which are shown in FIG. I, of the ScotbRussell straight-line type extend upwardly from housing 38 at equally spaced intervals throughout its length. As is better shown in FIG. 2, each lifter mechanism 59 includes a first link 60 connected at its lower end to a corresponding one of bracket fins 54' for'unitary movement with bracket 54 longitudinally of and pivotally about the axis of housing 38, and for pivotal movement relative to bracket 54 and housing 38 in a generally vertical plane. The upper end of link 60, which as shown in FIG. 6 is inwardly offset somewhat from its lower end, supports and is pivotally connected to grasper bar 22 by bracket 61. The second link 62 of each lifter mechanism 59 is similarly connected, for relative pivotal movement in a generally vertical plane, at its upper end to an intermediate portion of link 60 and at its lower end to one of the brackets 44 through which pivotal movement is imparted to housing 38 by piston and cylinder assemblies 46. Reciprocatory movement of rod 52 produces unitary. guided movement of brackets 54 and the lower ends of links 60 toward or away from brackets 44 and the lower ends of links 62, which by the interaction between the links produces linear upward or downward movement of the upper ends of links 60 and the grasper bar 22 supported thereby.

The desired movement of grasper bar 22 during the doffing operation and along the previously-described path indicated by the arrows in FIG. 6 is produced through the aforesaid linkages and mechanisms by selective actuation of valves 84, 92 and hydraulic assemblies 46, 50 by master control 90. Actuation of assemblies 46 produces inward and outward grasper bar movement through brackets 44, housing 38 and the edges of guide slots 56, brackets 54, links 60, 62 and brackets 61. Actuation of assembly 50 produces upward and downward grasper bar movement through rod 52, brackets 54, 44, links 60, 62 and brackets 61. Verification of the completion of each phase of the grasper bars movement-is obtained, and transmitted to master control before the latter permits commencement of the next succeeding movement phase, by actuation of an appropriate one of the microswitches LSl-4 by actuator 72, in the case of upward and downward movement of bar 22, and by actuation of microswitch LS6 or LS5 by actuator arm 68, in the case of inward and outward bar movement. Such verification greatly lessens the possibility of the doffing apparatus and/or machine 10 being severely damaged if a malfunction should inadvertently occur.

Removal of full bobbins B from spindles l8 constitutes one of the more difficult steps in each doffing operation. As grasper bar 22 is moved upwardly from spindles 18, following insertion and inflation of its grasper elements 28 within the open upper ends of the bobbins B mounted upon such spindles, all bobbins B should be raised with bar 22 to an elevated position wherein their lower ends are above the tips of the spindles'. It is possible, however, that due to a faulty bobbin or other uncontrollable'variable, one or more bobbins B might be inadvertently left fully or partially seated upon its respective spindle 18. If that condition existed and doffing operation proceeded without its correction, considerable damage would be done either to the doffing apparatus and/or to machine 10 during the next-succeeding outward movement of grasper bar 22. To prevent such an occurrence, there is provided reliable but inexpensive stop-motion means for detecting the presence of any undoffed bobbin still remaining upon any of the spindles 18 at the aforesaid point in the doffing operation. This is preferably of the photoelectric type, including a light source 74 and light receiver 76 (FIGS. 1 and 6), respectively mounted at opposite ends of the machine 10, as upon the cabinets of head end 12 and foot end 14, for passage therebetween of a light beam parallel to and closely adjacent the row of spindles 18. Preferably the beam is directed immediately above the upper ends of spindles 18, where it would underlie the lower ends of the doffed bobbins B suspended from grasper bar 22 but would be blocked by any bobbin B left undoffed upon any one of the spindles, but the beam might be directed adjacent any portions of the spindles where a similar result could be obtained. Receiver 76, which may be of either the light or dark-actuated type, forms part of a suitable stopmotion circuit which preferably, as indicated in FIG. 7, is connected to master control 90 in a manner causing the dofflng operation to be immediately stopped if an undoffed bobbin B should be detected. Alternatively or additionally, the stop-motion circuit may actuate suitable visual and/or audible alarm means (not shown).

It will be noted that when grasper bar 22 is disposed in its inoperative position, not only it but also all components of the lifter and associated mechanisms are at an elevation below that of spindle rail 16 and the spindles 18 carried thereby. This affords free access to the spindle, drafting and creel areas of the machine for servicing purposes during normal spinning operations. End-down piecing, cleaning and/or other servicing functions can if desired be performed by mobile units suspended from or above spindle rail 16 of machine 10, in accordance with practices now followed in some mills, without the doffing apparatus in any way constituting an obstruction. The inward offset provided at the upper end portions of links 60 of each of the various lifter mechanisms 59 (FIG. 6) affords additional clearance for any such servicing unit which might extend downwardly somewhat from spindle rail 16 of machine 10.

It will also be noted that while grasper bar 22 is in its inoperative position, as well as at other times, conveyor 24 is shielded from accidental impacts from carts and the like by housing 38, which also shields the hydraulic assembly 50 and rod 52 therewithin and is in turn shielded from such impacts by bumper bar 42. The accumulation of lint and other debris upon the lower flight of conveyor 24, assembly 50, rod 52, bearings 53 and brackets 54 is discouraged by the enclosure of these components within track 30 or housing 38.

The coil springs 55 disposed within housing 38 between adjacent bearings 53 and brackets 54 exert a biasing force upon the brackets insuring that bar 22 will not inadvertently drop downwardly from its inoperative position even if the hydraulic flow to assembly 50 should fail or be shut off for some reason. Springs 55 also assist initial upward movement of bar 22 by assembly 50 through mechanisms 59, at which time the positions of links 60, 62 affords the least mechanical advantage.

The detailed control circuitry and sequence of operations described generally above are illustrated in FIGS. 8 and 9. Nine relays, CR1-9, are provided. CR1-6, 8, 9, each control both a normally open (i.e., open when the relay is not energized) and a normally closed switch. CR7 controls a normally open switch. In turn, CR1-4 are energized by the closing, respectively, of LS1 (when bar 22 is in its uppermost position), LS2 (when bar 22 is inwardly pivoted and lowered with elements 28 inside the full bobbins), LS3 (when bar 22 is in its storage position), and LS4 (when bar 22 is inwardly pivoted and in its lowermost position with elements 28 inside the empty bobbins). CR5 and 6 are energized by the closing of switches LS5 and 6, respectively. CR7 and 8 are energized respectively by the closing of pressure switches PSI (when elements 28 are inflated to their grasping pressure, some 20-60 p.s.i.g.) and PS2 (when elements 28 are at atmospheric pressure). Switches PSI and PS2, along with inflation and deflation control valves INF and DEF, respectively are shown schematically in FIG. 10 in their operating relationship with air supply line to elements 28. CR9 is energized by the closing of switch LS7 (FIG. 2) when the conveyor 24 is indexed toward the head end 12 of the apparatus during the donning operation.

In operation, the sequence is initiated by application of power at points A and A (FIG. 8), with bar 22 in its storage position, thus closing relays CR3, 5, and 8 and actuating solenoid OUT through switches CR9, 3, 8, and 6 (FIG. 8, line II).

Bar 22 thus pivots outwardly, eventually energizing CR6, whereupon solenoid UP is actuated through switches CR9, 6, 8, and 1 (FIG. 8, line 16).

Bar 22 moves up until switch LS1 is closed, energizing CR1 to actuate solenoid IN through CR9, 1, 8, and 5 (FIG. 8, line 21 Bar 22 pivots inwardly until CR5 is energized, actuating solenoid DOWN through CR9, 5, 8, 2, and 3 (FIG. 8, line 26), causing the bar to move downwardly until switch LS2 is tripped to energize CR2. Solenoid INF is then actuated through CR2 (FIG. 8, line 31), inflating elements 28 inside the full bobbins. When elements 28 are fully inflated, relay switch CR7 is energized through switch PS1, thus actuating solenoid UP through CR9, 1, 5, 7, and 3 (FIG. 8, line l6, l7), lifting bar 22 until relay CR1 is energized by LS1, in turn actuating solenoid OUT through CR1 and 7 (FIG. 8, line 12), pivoting the bar outwardly.

When bar 22 reaches its outermost position CR6 is energized through LS6, whereupon solenoid DOWN is actuated through CR9, 7, 6, and 3 (FIG. 8, lines 26, 27), lowering the bar until CR3 is energized by LS3. At that time solenoid IN is actuated through CR9, 7, 3, and 5 (FIG. 8, lines 2I, 22), pivoting bar 22 carrying the full bobbins inwardly to alignment over pegs 26.

The energization of CR5 actuates solenoid DEF through CR9, 7, 3, and 5 (FIG. 8, line 34), dropping the full bobbins in the pegs. Upon deflation of elements 28, PS2 closes, energizing CR8, causing conveyor 24 to index. (Through switches CR3 and 7 (FIG. 8, line 10) deenergization of relay CR7 is prevented until after the indexing, despite the deflation of elements 28; see the solid and dashed lines for CR7 in FIG. 9.) The indexing operates LS7, energizing CR9, in turn actuating solenoid DOWN through CR9, 5, 8, 4, and 1 (FIG. 8, line 28. Bar 22 is lowered until LS4 is tripped, energizing CR4 to actuate solenoid INF through CR4 (FIG. 8, line 32), inflating elements 28 in the empty bobbins. Upon full inflation PS 1 closes, CR7 is energized, and solenoid UP is actuated through CR9, 7, 5, 3, and 1 (FIG.

8, line 18) raising bar 22 with the empty bobbins, until LS3 closes, energizing CR3.

Actuation of solenoid OUT through CR9, 3, 7, and 6 (FIG. 8, lines 11-13) moves bar 22 out until CR6 is energized through LS6, stopping the outward movement and actuating solenoid UP through CR9, 6, and 1 (FIG. 8, lines 18, 19). When the bar reaches its top position LS1 is closed, energizing CR1 to actuate solenoid IN through CR9, 1, 7, and (FIG. 8, lines 21, 23), bringing the empty bobbins into alignment over the spindles and energizing CR5 through LS5. This actuates solenoid DEF through CR9, 8, l, and 5 (FIG. 8, lines 34, 35), releasing the bobbins for the self-aligning free fall donning thereonto described above.

Upon deflation of elements 28, PS2 closes energizing CR8, actuating solenoid OUT through CR9, 1, 8, and 6 (FIG. 8, lines l1, l3, 14). Bar 22 moves out, closing LS6 to energize CR6. This actuates solenoid DOWN through CR9, 6, 8, and 3 (FIG. 8, lines 28, 29), lowering the bar until LS3 closes, energizing CR3. Solenoid IN is actuated through CR9, 3, 8 and 5 (FIG. 8, lines 21, 23, 24), returning the bar to the storage position and power is then removed from A and A, ending the cycle.

What is claimed is:

1. Automatic donning apparatus in a textile processing machine having a plurality of vertical elements for receiving bobbins, said apparatus comprising a plurality of bobbin grasping elements movable to a donning position axially aligned with said vertical elements and spaced above said vertical'elements by a distance greater than the length of the bobbins to be donned,

first control means for moving said grasping elements to said donning position,

second control means for sequentially actuating said grasping elements to grasp said bobbins and deactuating said grasping elements to release said bobbins, and

means correlating said first and second control means for deactuating said grasping elements while they are in their donning position, whereby said bobbins are donned onto said vertical elements in self-aligning free fall.

2. The automatic donning apparatus of claim 1 wherein said vertical elements are spindles.

3. The automatic donning apparatus of claim 2 further comprising magnetic seaters on said spindles for receiving and seating said bobbins after self-aligning free fall.

4. The automatic donning apparatus of claim 1 wherein said vertical elements are conveyor pegs.

5. The automatic donning apparatus of claim 1 wherein said first control means include a doffing control means for lowering said grasping elements to a doffing position below said donning position, and said correlating means includes disabling means for effectively disabling said doffing control means to permit said self-aligning free fall.

6. The automatic donning apparatus of claim 1 wherein said grasping elements are inflatable.

7. The method of donning bobbins on vertical elements in a textile processing machine, said machine having a plurality of bobbins graspers, said method comprising the steps of actuating said graspers to grasp bobbins,

moving said graspers to a donning position axially aligned with said vertical elements and spaced above said vertical elements by a distance greater than the length of said bobbins, and

deactuating said graspers to release said bobbins for self-aligning free fall onto said vertical elements. a a:

UNITED STATES PATENT OFFICE CERTIFICATE OF CORRECTION 5 August 14, 1973 Patent No. 751 89 Dated Gordon C. Anderson et a1. Inventor(s) It is certified that error appears in the above-identified patent and that Iaid Letters Patent are hereby corrected as shown below:

Column 4 line 48 "86 86" should read 1 1 8-6 86 I I line 49, "88 88 should read 88 88' line 59 "88" should read 88 -.a

line 65, "86" should read 86' Column 5, line 59, "S8, 58" should read 5s, 58' Coluln 8, line 41, "line" should read lines line 55, "in" should read e: on

Column 9, line 32 claim 1 cancel "greater than the length of the bobbins to'be donned," same line 32, after "distance" insert sufficient to permit said bobbins when grasped thereby to be so aligned above said vertical elements, Column 10, lines 33 and 34 claim 7 cancel "greater than the length of said bobbins" and insert T- sufficient to permit said bobbins to be so aligned above said vertical elements Signed and sealed this 10th day of September 1974.

(SEAL) Attest:

MCCOY H. GIBSON JR. C. MARSHALL DANN Attesting Officer Commissioner of Patents FORM PO-KJSO 9 USCOMM-DC 60376-P69 U 5 GOVERNMENT PRINTING OFFICE: I969 O'3S6-334. 

1. Automatic donning apparatus in a textile processing machine having a plurality of vertical elements for receiving bobbins, said apparatus comprising a plurality of bobbin grasping elements movable to a donning position axially aligned with said vertical elements and spaced above said vertical elements by a distance greater than the length of the bobbins to be donned, first control means for moving said grasping elements to said donning position, second control means for sequentially actuating said grasping elements to grasp said bobbins and deactuating said grasping elements to release said bobbins, and means correlating said first and second control means for deactuating said grasping elements while they are in their donning position, whereby said bobbins are donned onto said vertical elements in self-aligning free fall.
 2. The automatic donning apparatus of claim 1 wherein said vertical elements are spindles.
 3. The automatic donning apparatus of claim 2 further comprising magnetic seaters on said spindles for receiving and seating said bobbins after self-aligning free fall.
 4. The automatic donning apparatus of claim 1 wherein said vertical elements are conveyor pegs.
 5. The automatic donning apparatus of claim 1 wherein said first control means include a doffing control means for lowering said grasping elements to a doffing position below said donning position, and said correlating means includes disabling means for effectively disabling said doffing control means to permit said self-aligning free fall.
 6. The automatic donning apparatus of claim 1 wherein said grasping elements are inflatable.
 7. The method of donning bobbins on vertical elements in a textile processing machine, said machine having a plurality of bobbins graspers, said method comprising the steps of actuating said graspers to grasp bobbins, moving said graspers to a donning position axially aligned with said vertical elements and spaced above said vertical elements by a distance greater than the length of said bobbins, and deactuating said graspers to release said bobbins for self-aligning free fall onto said vertical elements. 